Rot wing updates (#3238)

* [airframes] rot_wing airframe updates * Updated small rot_wing drones * Updated rot_wing_v3f calibrations
paparazzi · Feb 13, 2024 · f44444c · f44444c
1 parent 2ae4fed
commit f44444c
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Showing 7 changed files with 1,634 additions and 7 deletions.
diff --git a/conf/airframes/tudelft/rot_wing_25kg.xml b/conf/airframes/tudelft/rot_wing_25kg.xml
@@ -144,7 +144,7 @@
         <servo no="2"  name="MOTOR_BACK"      min="-8191" neutral="-5000" max="8191"/>
         <servo no="3"  name="MOTOR_LEFT"      min="-8191" neutral="-5000" max="8191"/>
         <servo no="4"  name="MOTOR_PUSH"      min="-8191" neutral="-8191" max="8191"/>
-        <servo no="5"  name="SERVO_ELEVATOR"  min="-8191" neutral="-8191" max="4900"/>
+        <servo no="5"  name="SERVO_ELEVATOR"  min="-3191" neutral="-3191" max="4900"/>
         <servo no="6"  name="SERVO_RUDDER"    min="-6500" neutral="0"     max="6500"/>
         <servo no="7"  name="ROTATION_MECH"   min="8191"  neutral="0"     max="-8191"/>
         <servo no="8"  name="AIL_RIGHT"       min="-8000" neutral="-1000"     max="5000"/>
@@ -161,7 +161,7 @@
         <servo no="2"  name="BMOTOR_BACK"     min="-8191" neutral="-5000" max="8191"/>
         <servo no="3"  name="BMOTOR_LEFT"     min="-8191" neutral="-5000" max="8191"/>
         <servo no="4"  name="BMOTOR_PUSH"     min="-8191" neutral="-8191" max="8191"/>
-        <servo no="5"  name="BSERVO_ELEVATOR" min="-8191" neutral="-8191" max="4900"/>
+        <servo no="5"  name="BSERVO_ELEVATOR" min="-3191" neutral="-3191" max="4900"/>
         <servo no="6"  name="BSERVO_RUDDER"   min="-6500" neutral="0"     max="6500"/>
         <servo no="7"  name="BROTATION_MECH"  min="8191"  neutral="0"     max="-8191"/>
         <servo no="8"  name="BAIL_RIGHT"      min="-8000" neutral="-1000"     max="5000"/>
@@ -244,7 +244,7 @@
         <define name="HOVER_ROLL_PITCH_COEF" value="{0.015,     -0.011}"/>
         <define name="HOVER_ROLL_ROLL_COEF"  value="{0.0,       -0.0}"/>
 
-        <define name="K_ELEVATOR"            value="{ 1.27655, -13.3525, -80.0}"/>
+        <define name="K_ELEVATOR"            value="{ 1.27655, -13.3525, -96.0}"/>
         <define name="K_RUDDER"              value="{-72.5037,  -0.9329, -3.23651}"/>
         <define name="K_AILERON"             value="2.777647188"/>
         <define name="K_FLAPERON"            value="2.0439"/>
@@ -413,7 +413,7 @@
     </section>
 
     <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-        <define name="MAX_BANK"         value="30" unit="deg"/>
+        <define name="MAX_BANK"         value="20" unit="deg"/>
         <define name="USE_SPEED_REF"    value="TRUE"/>
 
         <!-- Gains -->

diff --git a/conf/airframes/tudelft/rot_wing_v3d.xml b/conf/airframes/tudelft/rot_wing_v3d.xml
@@ -68,7 +68,7 @@
         </module>
         <module name="airspeed" type="ms45xx_i2c">
             <define name="MS45XX_I2C_DEV"               value="i2c2"/>
-            <define name="MS45XX_PRESSURE_SCALE"        value="1.9077609"/>
+            <define name="MS45XX_PRESSURE_SCALE"        value="1.618426"/>
             <define name="USE_AIRSPEED_LOWPASS_FILTER"  value="TRUE"/>
             <define name="MS45XX_LOWPASS_TAU"           value="0.15"/>
             <define name="AIRSPEED_MS45XX_SEND_ABI"     value="1"/>

diff --git a/conf/airframes/tudelft/rot_wing_v3e.xml b/conf/airframes/tudelft/rot_wing_v3e.xml
@@ -266,8 +266,6 @@
         <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(9, -9600)) : actuators_pprz[2])" SERVO="BMOTOR_BACK"/>
         <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(10, -9600)) : actuators_pprz[3])" SERVO="BMOTOR_LEFT"/>
         <set VALUE="pfc_actuators_value(6, rotwing_state_skewing.servo_pprz_cmd)"  SERVO="BROTATION_MECH"/>
-
-        <call fun="actuators_pprz[9] = (rotwing_state_skewing.servo_pprz_cmd + MAX_PPRZ) / 2."/><!-- Fill skew for NPS: see NPS_ACTUATOR_NAMES for index -->
     </command_laws>
 
     <section PREFIX="SYS_ID_" NAME="SYS_ID">